/// <summary>
/// 寻找原点 多次来回寻找,如果向负方向找到返回0，向正方向找到放回1
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short MutHomeFindHomeSinge(AxisConfig axisC1, int count)
{
int stepPos = (int)axisC1.intFirstFindOriginDis;
if (HomeFindHomeSinge(axisC1, stepPos) == 0)
{
if (stepPos < 0)
{
return(0);
}
else
{
return(1);
}
}
if (WorkBase.IsRestExit())
{
return(-1);
}
if (HomeFindHomeSinge(axisC1, 0 - 2 * stepPos) == 0)
{
if (stepPos < 0)
{
return(0);
}
else
{
return(1);
}
}
return(-1);
}
/// <summary>
/// 寻找原点,一次寻找pos1 ,
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeFindHomeSinge(AxisConfig axisC, int pos1)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.Speed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
point.dblPonitValue = pos1;
shrResult = SR_RelativeMove(axisC, point);
if (shrResult != 0)
{
return(-1);
}
Thread.Sleep(10);
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
SR_GetOriginInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo); //采集原点信号
if (!axisC.tag_homeIoHighLow) //如果信号位高电平
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum)); //停止轴
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-2);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-3);
}
}
}
/// <summary>
/// 运行第二段距离
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeMoveTwoDis(AxisConfig axisC)
{
short shrResult = 0;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.Speed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
point.dblPonitValue = axisC.intSecondFindOriginDis;
if (axisC.HomeDir == 0)
{
point.dblPonitValue = 0 - point.dblPonitValue;
}
shrResult = SR_RelativeMove(axisC, point); //单轴的相对运动
if (shrResult != 0)
{
return(-1);
}
if (point.dblPonitValue == 0)
{
return(-1);
}
Thread.Sleep(10);
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
}
public short SR_GoHome(AxisConfig _acf)
{
if (HomeFindLimit(_acf) == 0)
{
if (WorkBase.IsRestExit())
{
return(-1);
}
Thread.Sleep(1000);
if (HomeMoveTwoDis(_acf) == 0)
{
if (WorkBase.IsRestExit())
{
return(-1);
}
return(HomeFindHomeIO(_acf));
}
}
return(-5);
}
//
/// <summary>
/// 单原点回原，如果第一次找不到原点即失败，第一段距离位寻找距离，第二段距离为反退距离。，第三段距离为反退距离+感应器的长度
/// </summary>
/// <param name="_acf"></param>
/// <returns></returns>
public short SR_GoOneHome(AxisConfig _acf)
{
short ret = MutHomeFindHomeSinge(_acf, 16);
if (ret >= 0)
{
if (WorkBase.IsRestExit())
{
return(-1);
}
Thread.Sleep(1000);
if (HomeMoveTwoDis(_acf) == 0)
{
if (WorkBase.IsRestExit())
{
return(-1);
}
Thread.Sleep(1000);
return(HomeFindOneHomeIO(_acf));
}
}
return(-5);
}
public short HomeFindOneHomeIO(AxisConfig axisC)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.HomeSpeed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
point.dblPonitValue = axisC.intThreeFindOriginDis;
shrResult = SR_RelativeMove(axisC, point);
if (shrResult != 0)
{
return(-1);
}
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
SR_GetOriginInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
if (axisC.tag_homeIoHighLow)
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
shrResult = 0;
break;
}
}
else
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
shrResult = 0;
break;
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(3);
}
Thread.Sleep(1);
}
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
Thread.Sleep(1000);
int countzeor = 30;
while (countzeor >= 0)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
int status = 0;
short r = SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out status);
if (r != 0)
{
return(-1);
}
if (status == 0)
{
break;
}
}
while (countzeor >= 0)
{
double pos = 0;
double Enc = 0;
Thread.Sleep(1000);
SR_GetPrfPos(axisC.CardNum, (short)(axisC.AxisNum), ref pos);
SR_GetEncPos(axisC.CardNum, (short)(axisC.AxisNum), ref Enc);
SR_SetPrfPos(axisC.CardNum, (short)(axisC.AxisNum), 0);
SR_SetEncPos(axisC.CardNum, (short)(axisC.AxisNum), 0);
SR_GetPrfPos(axisC.CardNum, (short)(axisC.AxisNum), ref pos);
SR_GetEncPos(axisC.CardNum, (short)(axisC.AxisNum), ref Enc);
if (pos < 5 && pos > -5 && Enc < 5 && Enc > -5)
{
return(0);
}
countzeor--;
Thread.Sleep(10);
}
if (countzeor >= 0)
{
return(0);
}
return(-1);
}
/// <summary>
///
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeFindLimit(AxisConfig axisC)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.Speed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
if (axisC.HomeDir == 1) //回零方向，默认为0
{
point.dblPonitValue = 0 - axisC.intFirstFindOriginDis; //第一次找原点距离
}
else
{
point.dblPonitValue = axisC.intFirstFindOriginDis;
}
if (axisC.HomeDir == 0)
{
SR_GetLimitPInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo); //获取正限输入状态
}
else
{
SR_GetLimitNInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo); //获取负限输入状态
}
if (axisC.tag_IoLimtPNHighEnable == 0) //正负限位高电平有效
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
shrResult = SR_RelativeMove(axisC, point); //单轴的相对运动
if (shrResult != 0)
{
CommandResult("_SR_AbsoluteMove", shrResult);
return(-1);
}
Thread.Sleep(10);
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
if (axisC.HomeDir == 0)
{
SR_GetLimitPInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
else
{
SR_GetLimitNInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
if (axisC.tag_IoLimtPNHighEnable == 0)
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
if (axisC.HomeDir == 0)
{
SR_GetLimitPInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
else
{
SR_GetLimitNInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
if (axisC.tag_IoLimtPNHighEnable == 0)
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
return(3);
}
}
}